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公开(公告)号：US20190142683A1
公开(公告)日：2019-05-16
申请号：US16189809
申请日：2018-11-13
Applicant: The Regents of the University of California
Inventor： Homayoon Kazerooni , Mimi Parker , Lace Co Ting Keh
Abstract: A fall prevention device configured to be coupled to a person and comprising a mechanical torso configured to be coupled to the person's torso and a mechanical structure configurable to be coupled to the mechanical torso from its first end. The mechanical structure and mechanical torso resist forces at least along one direction to maintain their posture relative to each other. In operation the second end of the mechanical structure is positioned behind the person and substantially close to the ground. When the second end of the mechanical structure contacts the ground, contact points of legs of the person on the ground and contact points of the second end of the mechanical structure outline a multi-sided polygon on the ground. If the vertical projection of the center of gravity of the person to the ground intersects the ground within the multi-sided polygon, the person and fall prevention device remain stable.
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公开(公告)号：US10285843B2
公开(公告)日：2019-05-14
申请号：US15654929
申请日：2017-07-20
Applicant: The Regents of the University of California
Inventor： Theerapat Yangyuenthanasan , Wayne Tung , Homayoon Kazerooni
Abstract: A trunk supporting exoskeleton comprises: a supporting trunk; thigh links configured to move in unison with a wearer's thighs; and first and second torque generators located on both left and right halves of the wearer substantially close to the wearer's hip. The torque generators couple the supporting trunk to the thigh links, and generate torque between the thigh links and the supporting trunk. When the wearer bends forward such that a predetermined portion of the supporting trunk passes beyond a predetermined angle from vertical, a torque generator(s) imposes a resisting torque between the supporting trunk and the thigh link(s), causing the supporting trunk to impose a force against the wearer's trunk, and the thigh link(s) to impose a force onto the wearer's thigh. When the predetermined portion does not pass beyond the predetermined angle, the torque generators impose no resisting torques between said supporting trunk and respective thigh links.
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公开(公告)号：US20190039234A1
公开(公告)日：2019-02-07
申请号：US16157417
申请日：2018-10-11
Applicant: The Regents of the University of California
Inventor： Logan Van Engelhoven , Homayoon Kazerooni
CPC classification number: B25J9/0006 , B25H1/10 , B65H1/10
Abstract: An arm supporting exoskeleton comprises a shoulder base coupled to an arm link mechanism. The arm link mechanism comprises a proximal link and a distal link configured to rotate relative to each other about a rotating joint; at least one arm-coupler adapted to couple a user's arm to the distal link; a tensile force generator coupled to the proximal link and the distal link, and providing a torque to flex the distal link relative to the proximal link; and a protrusion located substantially at the rotating joint. When the distal link extends past a toggle angle, the protrusion constrains the tensile force generator, and the torque provided by the tensile force generator remains substantially small. When the protrusion does not constrain the tensile force generator, the torque tends to flex the distal link relative to the proximal link, thereby reducing human shoulder forces and torques required to raise the arm.
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公开(公告)号：US10124485B2
公开(公告)日：2018-11-13
申请号：US15848487
申请日：2017-12-20
Applicant: The Regents of the University of California
Inventor： Logan Van Engelhoven , Homayoon Kazerooni
Abstract: An arm supporting exoskeleton comprises a shoulder base coupled to an arm link mechanism. The arm link mechanism comprises a proximal link and a distal link configured to rotate relative to each other about a rotating joint; at least one arm-coupler adapted to couple a user's arm to the distal link; a tensile force generator coupled to the proximal link and the distal link, and providing a torque to flex the distal link relative to the proximal link; and a protrusion located substantially at the rotating joint. When the distal link extends past a toggle angle, the protrusion constrains the tensile force generator, and the torque provided by the tensile force generator remains substantially small. When the protrusion does not constrain the tensile force generator, the torque tends to flex the distal link relative to the proximal link, thereby reducing human shoulder forces and torques required to raise the arm.
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公开(公告)号：US20170360588A1
公开(公告)日：2017-12-21
申请号：US15654929
申请日：2017-07-20
Applicant: The Regents of the University of California
Inventor： Theerapat Yangyuenthanasan , Wayne Tung , Homayoon Kazerooni
CPC classification number: A61F5/026 , A61F5/028 , A61F2005/0179 , A61H1/0244 , A61H1/0292 , A61H2201/1246 , A61H2201/1261 , A61H2201/1619 , A61H2201/164 , A61H2201/165
Abstract: A trunk supporting exoskeleton comprises: a supporting trunk; thigh links configured to move in unison with a wearer's thighs; and first and second torque generators located on both left and right halves of the wearer substantially close to the wearer's hip. The torque generators couple the supporting trunk to the thigh links, and generate torque between the thigh links and the supporting trunk. When the wearer bends forward such that a predetermined portion of the supporting trunk passes beyond a predetermined angle from vertical, a torque generator(s) imposes a resisting torque between the supporting trunk and the thigh link(s), causing the supporting trunk to impose a force against the wearer's trunk, and the thigh link(s) to impose a force onto the wearer's thigh. When the predetermined portion does not pass beyond the predetermined angle, the torque generators impose no resisting torques between said supporting trunk and respective thigh links.
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Patent Agency Ranking
公开(公告)号：US09744066B2
公开(公告)日：2017-08-29
申请号：US14944635
申请日：2015-11-18
Applicant: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA
Inventor： Homayoon Kazerooni , Erich Hacker , Lee-Huang Chen , Wayne Tung , Nathan Poon , Theerapat Yangyuenthanasan
CPC classification number: A61F5/026 , A61F5/028 , A61F2005/0179 , A61H1/0244 , A61H1/0292 , A61H2201/1246 , A61H2201/1261 , A61H2201/1619 , A61H2201/164 , A61H2201/165
Abstract: A trunk supporting exoskeleton comprises: a supporting trunk; thigh links configured to move in unison with a person's thighs; and first and second torque generators located on both left and right halves of the person substantially close to the person's hip. The torque generators couple the supporting trunk to the thigh links, and generate torque between the thigh links and the supporting trunk. When the person bends forward such that a predetermined portion of the supporting trunk passes beyond a predetermined angle from vertical, a torque generator(s) imposes a resisting torque between the supporting trunk and the thigh link(s), causing the supporting trunk to impose a force against the person's trunk, and the thigh link(s) to impose a force onto the person's thigh. When the predetermined portion does not pass beyond the predetermined angle, the torque generators impose no resisting torques between said supporting trunk and respective thigh links.
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公开(公告)号：US11654546B2
公开(公告)日：2023-05-23
申请号：US17221121
申请日：2021-04-02
Applicant: The Regents of the University of California
Inventor： Logan Van Engelhoven , Homayoon Kazerooni
CPC classification number: B25J9/0006 , B25H1/10 , B65H1/10
Abstract: Described herein is an arm supporting exoskeleton, comprising an arm link mechanism. The arm link mechanism comprises a proximal link, a distal link, an arm coupler, and a variable force generator. The distal link is rotatable relative to the proximal link. The arm coupler is adapted to couple an upper arm of a person to the distal link. The variable force generator comprises a first spring and a second spring, configured to create a torque between the proximal link and the distal link. In the first force mode, the variable force generator exhibits a first stiffness rate defined by the first spring that supports the upper arm of the person against gravity forces and. In the second force mode, the variable force generator exhibits a second stiffness rate defined by the first spring and the second spring that supports the upper arm of the person against the gravity forces.
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公开(公告)号：US10966894B2
公开(公告)日：2021-04-06
申请号：US15813013
申请日：2017-11-14
Inventor： Wayne Tung , Minerva V. Pillai , James Hatch , Homayoon Kazerooni , Theerapat Yangyuenthanasan , Yusuke Maruo , David Cuban
Abstract: A leg support exoskeleton is strapped on as a wearable device to support its user during squatting and/or lunging. The exoskeleton includes a knee joint connected to a first link and a second link, which is configured to allow flexion and extension motion between the first link and the second link. A force generator has a first end that is rotatable connected to the first link. A constraining mechanism is connected to the second link and has at least two operational positions. In a first operational position, the second end of the force generator engages the constraining mechanism, where the first link and the second link flex relative to each other. In a second operational position, the second end of the force generator does not engage the constraining mechanism; the first link and the second link are free to flex and extend relative to each other.
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公开(公告)号：US20210007875A1
公开(公告)日：2021-01-14
申请号：US17038328
申请日：2020-09-30
Applicant: The Regents of the University of California
Inventor： Homayoon Kazerooni , Erich Hacker , Lee-Huang Chen
Abstract: An exoskeleton includes two torque generators, two thigh links, and a supporting trunk rotatably coupled to the thigh links. When a wearer bends forward in the sagittal plane such that the supporting trunk extends beyond a predetermined angle A with respect to vertical, at least one of the torque generators imposes a resisting torque between the supporting trunk and a corresponding thigh link, thus imposing a force onto a wearer's trunk and thighs to aid in supporting the wearer in a bent position. The exoskeleton may include an active or passive means for actuating the generators. When the supporting trunk does not extend beyond the predetermined angle A, the torque generators do not impose resisting torques between the supporting trunk and the thigh links during the entire range of motion of the thigh links, thus enabling a wearer to walk, run and sit without constraint while in an upright position.
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公开(公告)号：US20200237546A1
公开(公告)日：2020-07-30
申请号：US16696872
申请日：2019-11-26
Applicant: The Regents of the University of California
Inventor： Shang-Li Wu , Homayoon Kazerooni
Abstract: Systems, methods, and apparatus provide artificial knees. Artificial knees include a thigh link configured to move in unison with a thigh of the person, a shank link configured to be rotatably coupled to said thigh link, and a compression spring rotatably coupled to the thigh link and coupled to a second end of shank link with a second end of the compression spring. During a first range of motion, the compression spring is configured to provide an extension torque between the thigh link and the shank link causing said artificial knee to resist flexion. After said first range of motion, the compression spring is configured to provide a flexion torque between the thigh link and the shank link encouraging said artificial knee to flex resulting in toe clearance during the swing phase. During the swing phase, the compression spring provides no torque between the thigh link and the shank link.
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